Trajectory planning for vibration suppression and avoidance of angularly postured obstacles in a 2-D transfer system

This paper proposes a trajectory planning method for a transfer system on a two-dimensional (2-D) surface. The 2-D transfer system must ensure safe and rapid transfer of an object. Safe transport of objects containing vibrational elements requires vibration suppression and obstacle avoidance. Meanwh...

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Autores principales:	Yoshiyuki NODA, Junichi NAKAJIMA
Formato:	article
Lenguaje:	EN
Publicado:	The Japan Society of Mechanical Engineers 2015
Materias:	trajectory planning 2-d transfer system vibration suppression obstacle avoidance optimization Mechanical engineering and machinery TJ1-1570
Acceso en línea:	https://doaj.org/article/c9641ed2e9e14834a45db0d6beb4bf35
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spelling	oai:doaj.org-article:c9641ed2e9e14834a45db0d6beb4bf352021-11-26T06:27:48ZTrajectory planning for vibration suppression and avoidance of angularly postured obstacles in a 2-D transfer system2187-974510.1299/mej.15-00038https://doaj.org/article/c9641ed2e9e14834a45db0d6beb4bf352015-07-01T00:00:00Zhttps://www.jstage.jst.go.jp/article/mej/2/4/2_15-00038/_pdf/-char/enhttps://doaj.org/toc/2187-9745This paper proposes a trajectory planning method for a transfer system on a two-dimensional (2-D) surface. The 2-D transfer system must ensure safe and rapid transfer of an object. Safe transport of objects containing vibrational elements requires vibration suppression and obstacle avoidance. Meanwhile, the transport time should be short and should satisfy the constraints of the transfer system. Our approach adds a reference trajectory to the transfer control system. The reference trajectory is derived by minimizing the integral square errors of the transferred object and the goal positions, and the energy of the frequency bands which include the natural frequencies of the vibrational elements. This optimization problem constrains the acceleration, velocity, and position of the transfer system. Angularly postured obstacles impose additional ellipsoidal constraints on the position of the transferred object. The trajectory planning problem is formulated as a quadratic problem with quadratic constraints. The effectiveness of the proposed trajectory planning is verified in simulations of an omni-directional mobile vehicle carrying the liquid container.Yoshiyuki NODAJunichi NAKAJIMAThe Japan Society of Mechanical Engineersarticletrajectory planning2-d transfer systemvibration suppressionobstacle avoidanceoptimizationMechanical engineering and machineryTJ1-1570ENMechanical Engineering Journal, Vol 2, Iss 4, Pp 15-00038-15-00038 (2015)
institution	DOAJ
collection	DOAJ
language	EN
topic	trajectory planning 2-d transfer system vibration suppression obstacle avoidance optimization Mechanical engineering and machinery TJ1-1570
spellingShingle	trajectory planning 2-d transfer system vibration suppression obstacle avoidance optimization Mechanical engineering and machinery TJ1-1570 Yoshiyuki NODA Junichi NAKAJIMA Trajectory planning for vibration suppression and avoidance of angularly postured obstacles in a 2-D transfer system
description	This paper proposes a trajectory planning method for a transfer system on a two-dimensional (2-D) surface. The 2-D transfer system must ensure safe and rapid transfer of an object. Safe transport of objects containing vibrational elements requires vibration suppression and obstacle avoidance. Meanwhile, the transport time should be short and should satisfy the constraints of the transfer system. Our approach adds a reference trajectory to the transfer control system. The reference trajectory is derived by minimizing the integral square errors of the transferred object and the goal positions, and the energy of the frequency bands which include the natural frequencies of the vibrational elements. This optimization problem constrains the acceleration, velocity, and position of the transfer system. Angularly postured obstacles impose additional ellipsoidal constraints on the position of the transferred object. The trajectory planning problem is formulated as a quadratic problem with quadratic constraints. The effectiveness of the proposed trajectory planning is verified in simulations of an omni-directional mobile vehicle carrying the liquid container.
format	article
author	Yoshiyuki NODA Junichi NAKAJIMA
author_facet	Yoshiyuki NODA Junichi NAKAJIMA
author_sort	Yoshiyuki NODA
title	Trajectory planning for vibration suppression and avoidance of angularly postured obstacles in a 2-D transfer system
title_short	Trajectory planning for vibration suppression and avoidance of angularly postured obstacles in a 2-D transfer system
title_full	Trajectory planning for vibration suppression and avoidance of angularly postured obstacles in a 2-D transfer system
title_fullStr	Trajectory planning for vibration suppression and avoidance of angularly postured obstacles in a 2-D transfer system
title_full_unstemmed	Trajectory planning for vibration suppression and avoidance of angularly postured obstacles in a 2-D transfer system
title_sort	trajectory planning for vibration suppression and avoidance of angularly postured obstacles in a 2-d transfer system
publisher	The Japan Society of Mechanical Engineers
publishDate	2015
url	https://doaj.org/article/c9641ed2e9e14834a45db0d6beb4bf35
work_keys_str_mv	AT yoshiyukinoda trajectoryplanningforvibrationsuppressionandavoidanceofangularlyposturedobstaclesina2dtransfersystem AT junichinakajima trajectoryplanningforvibrationsuppressionandavoidanceofangularlyposturedobstaclesina2dtransfersystem
_version_	1718409807367503872

Trajectory planning for vibration suppression and avoidance of angularly postured obstacles in a 2-D transfer system

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